Wide-body vehicle battery swap station and battery swap method

Abstract

The wide-body vehicle battery replacing station comprises a steel structure factory building, a parking platform is arranged in the middle of the steel structure factory building, battery replacing equipment, a charging bin and a fire-fighting elevator are arranged on the two sides of the parking platform, and battery replacing robots facilitating moving of battery boxes are arranged on the two sides of the parking platform. A 3D camera, a distance sensor and an objective table are arranged on a lifting mechanism of the battery replacing robot, an R-direction motor is arranged below the objective table, and a bidirectional telescopic pallet fork is arranged on the objective table. The two distance sensors are adopted and used for detecting the distance between the two sides of a vehicle-end battery, automatically calculating the included angle between the battery and the battery replacing robot and feeding back the included angle to the R-direction motor so that the R-direction motor can drive the angle of the two-way telescopic pallet fork, and therefore the parallelism of the battery and the battery replacing robot can be automatically kept; a 3D camera is installed in the middle of the battery replacing robot lifting frame and used for detecting the battery identification position, judging the front-back specific position of the vehicle, feeding back to a driving driver and automatically adjusting the position of the battery replacing robot.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swap stations, and in particular to a battery swap station and a battery swap method for wide-body vehicles. Background Art

[0002] With the increasing popularity of new energy vehicles, the battery replacement link of electric vehicles is an important issue that the electric vehicle industry needs to solve. Using special battery replacement equipment to achieve automatic battery replacement is the technical development direction of electric vehicle charging and replacement stations. At present, container-type battery replacement stations are the mainstream in the market. New energy mining trucks carry two large-capacity batteries, which are installed in a lifting drawer-style entry and exit on the left and right sides. There are the following technical defects: the left and right (i.e., the position in the X direction) of the vehicle are not accurately parked during battery replacement, which increases the difficulty of battery replacement and low battery replacement efficiency.

[0003] Therefore, how to design a battery replacement station and battery replacement method for wide-body vehicles has become an urgent problem to be solved. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a wide-body vehicle battery replacement station and a battery replacement method to solve at least one of the above-mentioned technical problems.

[0005] The technical solution of the present invention is: a wide-body vehicle battery swap station, including a steel structure factory building, a parking platform is arranged in the middle of the steel structure factory building, the parking platform carries the battery swap vehicle, battery swap equipment, charging warehouse and fire lift are arranged on both sides of the parking platform, and a set of battery swap equipment, charging warehouse and fire lift is on one side; battery swap robots for facilitating the movement of battery boxes are arranged on both sides of the parking platform, and the lifting mechanism of the battery swap robot is respectively provided with a 3D camera, a distance sensor and a loading platform, an R direction motor is arranged under the loading platform, and a bidirectional telescopic fork is arranged on the loading platform.

[0006] The present invention adopts two distance sensors installed on the lifting frame of the battery swap robot, which are respectively used to detect the distance between the two sides of the battery at the vehicle end, automatically calculate the angle between the battery and the battery swap robot, and feed it back to the R direction motor to drive the angle of the two-way telescopic fork, thereby automatically maintaining the parallelism between the battery and the battery swap robot; a 3D camera is installed in the middle position of the lifting frame of the battery swap robot to detect the battery identification position, judge the specific front and rear position of the vehicle, and feed it back to the driving drive of the battery swap robot, automatically adjust the position of the battery swap robot and the leveling mechanism on the two-way telescopic fork, solve the technical defects of inaccurate left and right (i.e., the position in the X direction) parking of the vehicle during battery swapping, which increases the difficulty of battery swapping and low battery swapping efficiency, improves the positioning accuracy of the battery swapping robot, improves the battery swapping efficiency of the entire mining truck double-sided battery swapping station, and reduces the difficulty of battery swapping.

[0007] The technical solution of the present invention is: a battery replacement method for a wide-body vehicle battery replacement station, comprising the following operating steps:

[0008] S1. When the battery-swapping vehicle that needs to have its battery pack replaced enters the set position of the passage in the steel structure workshop, the 3D camera detects the parking position of the battery-swapping vehicle, and the gantry of the battery-swapping robot is driven by the X-axis moving component and moves along the X-direction on the track through the track wheels to the battery pack position of the battery-swapping vehicle, and switches to the second state;

[0009] S2, the bidirectional telescopic fork in the second state moves along the Z direction under the drive of the Z-axis moving assembly, the Z-direction motor drives the driving sprocket to rotate through the third reducer, the driving sprocket drives the driven sprocket to rotate through the Z-direction chain, and the counterweight sprocket and the counterweight block drive the loading platform to rise to the specified height, and switch to the third state;

[0010] S3, the bidirectional telescopic fork is in the third state, the motor in the R direction is meshed with the inner gear ring of the slewing bearing through the second reducer and the second gear, and the slewing bearing rotates along the circumferential direction, so that the battery-swapping robot is parallel to the vehicle end, which facilitates the bidirectional telescopic fork to extend and retract along the Y direction to pick up the package, and then switches to the fourth state;

[0011] S4. The bidirectional telescopic fork in the fourth state extends in the Y direction to just below the battery pack of the battery-swapping vehicle; the bidirectional telescopic fork moves in the Z direction driven by the Z-axis moving assembly, and the Z-direction motor drives the driving sprocket to rotate through the third reducer, and the driving sprocket drives the driven sprocket to rotate through the Z-direction chain, and together with the counterweight sprocket and the counterweight block, the loading platform first rises and then extends upward, so that the drag plate drags the crossbeam at the bottom of the battery pack, and switches to the fifth state;

[0012] S5. The bidirectional telescopic fork in the fifth state moves in the Z direction under the drive of the corresponding Z-axis moving component. The Z-direction motor drives the active sprocket to rotate through the third reducer. The active sprocket drives the driven sprocket to rotate through the Z-direction chain, and together with the counterweight sprocket and the counterweight block, drives the loading platform to rise to a specified height, so that the battery pack of the battery-swapping vehicle on the loading platform is separated from the battery-swapping vehicle, and the battery box is separated from the bottom bracket, switching to the sixth state;

[0013] S6, the bidirectional telescopic fork in the sixth state moves along the X direction under the drive of the X-axis moving assembly, and the X-direction motor drives the first gear to move along the rack through the first reducer, driving the bidirectional telescopic fork to move to the position corresponding to the battery pack charging compartment cache, and switching to the seventh state;

[0014] S7. The bidirectional telescopic fork in the seventh state moves in the opposite direction to the battery pack charging compartment cache position under the drive of the corresponding X-axis moving component, Z-axis moving component and R-direction motor. The floating mechanism on the bidirectional telescopic fork drives the loading platform to move downward a short distance through the Z-direction motor and the third reducer, so that the floating mechanism is separated from the battery pack. After the low-power battery pack replaced by the battery swap vehicle is placed in the battery pack charging compartment cache position, it switches to the eighth state.

[0015] S8. The bidirectional telescopic fork in the eighth state is driven by the corresponding X-axis moving component, Z-axis moving component and R-direction motor to move to the top of the battery pack charging base with a fully charged battery pack; the bidirectional telescopic fork enables the floating mechanism to drag the fully charged battery pack; after the loading platform is driven to rise to a corresponding height by the Z-direction motor and the third reducer, the fully charged battery pack is separated from the battery pack charging base; the bidirectional telescopic fork retracts to the origin position, the R-direction motor meshes with the inner gear ring of the slewing bearing through the second reducer and the second gear, and the slewing bearing rotates along the circumferential direction, so that the bidirectional telescopic fork is perpendicular to the battery swap vehicle, and switches to the ninth state;

[0016] S9, the bidirectional telescopic fork in the ninth state is driven by the corresponding X-axis moving component, Z-axis moving component and R-direction motor, and the bidirectional telescopic fork is extended to the top of the battery swap vehicle, and the Z-direction motor and the third reducer drive the loading platform to descend, so that the fully charged battery pack contacts the battery swap vehicle and then descends a short distance, and the loading platform continues to descend, so that the fully charged battery pack is installed on the battery swap vehicle, and the battery swap vehicle is switched to the tenth state;

[0017] S10, the bidirectional telescopic fork in the tenth state is adjusted to the initial state of battery replacement under the drive of the corresponding X-axis moving component, Z-axis moving component and R-direction motor to complete the battery replacement operation; all the above action states are the simultaneous operation of both sides of the battery replacement vehicle 11;

[0018] S11. Repeat the above steps S1 to S10 to complete the battery pack replacement of the next battery-swapping vehicle 11.

[0019] The present invention transfers the depleted battery pack on the vehicle to an idle charging unit for charging, and at the same time transfers the fully charged battery pack to the installation position of the vehicle. The waiting time required for the entire battery replacement process is short and the battery replacement efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 It is a top view of the structure of the present invention.

[0022] Figure 3 This is a schematic diagram of the installation structure of the battery-swapping robot of the present invention.

[0023] Figure 4 It is a schematic diagram of the installation structure of the bidirectional telescopic fork of the present invention.

[0024] Figure 5 It is a schematic diagram of the mounting structure of the stage of the present invention.

[0025] In the figure: 1. Steel structure workshop; 2. Battery exchange robot; 3. Two-way telescopic fork; 4. Fire lift; 5. Ground rail; 6. Leveling mechanism; 7. Battery cache rack; 8. Box transformer; 9. Charger; 10. Lounge; 11. Battery exchange vehicle; 12. Maintenance room; 201. Battery pack charging compartment cache position; 202. Battery pack charging base; 301. Rack; 302. Track wheel; 303. Cam follower; 304. Drive shaft cam follower; 305. Electric control cabinet; 306. 3D camera; 307. Maintenance ladder; 308. Z direction chain; 3 09. Counterweight sprocket; 310. Loading platform roller; 311. Driving sprocket; 312. Z direction motor; 316. Busbar of rail-mounted power exchange robot; 317. Overhead rail; 318. X direction buffer; 319. First gear; 320. X direction motor; 321. Counterweight block; 322. Driven sprocket; 323. Counterweight roller; 324. R direction motor; 325. Counterweight bearing seat; 326. Overhead rail cam follower; 327. Floating mechanism; 328. Second gear; 329. Slewing bearing; 330. Chain anti-breakage and anti-falling protector. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] See also Figure 1-5 The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0028] Embodiment 1: A battery replacement method for a wide-body vehicle battery replacement station, referring to Figure 1-5 , including the following steps:

[0029] S1. When the battery-swapping vehicle 11 that needs to have its battery pack replaced enters the channel setting position in the steel structure workshop 1, the 3D camera 306 detects the parking position of the battery-swapping vehicle 11. The gantry of the battery-swapping robot 2 is driven by the X-axis moving component. The X-direction motor 320 drives the first gear 319 to move along the rack 301 through the first reducer, driving the cam follower 303 and the drive shaft cam follower 304 to move along the track, and moves along the X direction on the track 5 through the track wheel 302 to the battery pack position of the battery-swapping vehicle 11, and switches to the second state.

[0030] S2, the bidirectional telescopic fork 3 in the second state moves along the Z direction under the drive of the Z-axis moving assembly, the Z-direction motor 312 drives the driving sprocket 311 to rotate through the third reducer, the driving sprocket 311 drives the driven sprocket 322 to rotate through the Z-direction chain 308, and the counterweight sprocket 309 and the counterweight block 321 drive the loading platform to rise to a specified height, and switch to the third state;

[0031] S3, the bidirectional telescopic fork 3 is in the third state, the motor 324 in the R direction is meshed with the inner gear ring of the slewing support 329 through the second reducer and the second gear 328, and the slewing support 329 rotates along the circumferential direction, so that the battery-swapping robot 2 is parallel to the vehicle end, which facilitates the bidirectional telescopic fork 3 to telescope along the Y direction to pick up the package, and then switches to the fourth state;

[0032] S4. The bidirectional telescopic fork 3 in the fourth state extends in the Y direction to just below the battery pack of the battery-swapping vehicle 11; the bidirectional telescopic fork 3 moves in the Z direction under the drive of the Z-axis moving assembly, and the Z-direction motor 312 drives the driving sprocket 311 to rotate through the third reducer, and the driving sprocket 311 drives the driven sprocket 322 to rotate through the Z-direction chain 308, and together with the counterweight sprocket 309 and the counterweight block 321, the loading platform first rises and then extends upward, so that the drag plate drags the crossbeam at the bottom of the battery pack, and switches to the fifth state;

[0033] S5. The bidirectional telescopic fork 3 in the fifth state moves in the Z direction under the drive of the corresponding Z-axis moving component. The Z-direction motor 312 drives the driving sprocket 311 to rotate through the third reducer. The driving sprocket 311 drives the driven sprocket 322 to rotate through the Z-direction chain 308, and together with the counterweight sprocket 309 and the counterweight block 321, the loading platform is driven to rise to a specified height, so that the battery pack of the battery-swapping vehicle 11 on the loading platform is separated from the battery-swapping vehicle 11, and the battery box is separated from the bottom bracket, and the loading platform is switched to the sixth state.

[0034] S6, the bidirectional telescopic fork 3 in the sixth state moves along the X direction under the drive of the X-axis moving assembly, and the X-direction motor 320 drives the first gear 319 to move along the rack 301 through the first reducer, driving the cam follower 303 and the drive shaft cam follower 304 to move along the track, driving the bidirectional telescopic fork 3 to move to the position corresponding to the battery pack charging compartment cache, and switching to the seventh state;

[0035] S7. The bidirectional telescopic fork 3 in the seventh state moves in the opposite direction to the battery pack charging compartment cache position 201 under the drive of the corresponding X-axis moving component, the Z-axis moving component and the R-direction motor 324. The floating mechanism 327 on the bidirectional telescopic fork 3 drives the driving sprocket 311 to rotate through the Z-direction motor 312 through the third reducer. The driving sprocket 311 drives the driven sprocket 322 to rotate through the Z-direction chain 308, and the counterweight sprocket 309 and the counterweight block 321 drive the loading platform to move downward a short distance, so that the floating mechanism 327 is separated from the battery pack, and the battery pack with low power replaced by the battery swap vehicle 11 is placed in the battery pack charging compartment cache position 201, and then switched to the eighth state;

[0036] S8. The bidirectional telescopic fork 3 in the eighth state is driven by the corresponding X-axis moving component, Z-axis moving component and R-direction motor 324 to move to the top of the battery pack charging base 202 with a fully charged battery pack; the bidirectional telescopic fork 3 causes the floating mechanism 327 to drag the fully charged battery pack; the Z-direction motor 312 drives the driving sprocket 311 to rotate through the third reducer, and the driving sprocket 311 drives the driven sprocket 322 to rotate through the Z-direction chain 308, and the counterweight sprocket 309 and the counterweight block 321 drive the loading platform to rise to the corresponding height, so that the fully charged battery pack is separated from the battery pack charging base 202; the bidirectional telescopic fork 3 retracts to the original position, and the R-direction motor 324 engages with the inner gear ring of the slewing support 329 through the second reducer and the second gear 328, and the slewing support 329 rotates along the circumferential direction, so that the bidirectional telescopic fork 3 is perpendicular to the battery exchange vehicle 11, and switches to the ninth state;

[0037] S9. The bidirectional telescopic fork 3 in the ninth state is driven by the corresponding X-axis moving component, Z-axis moving component and R-direction motor 324. The bidirectional telescopic fork 3 is extended to the top of the battery-swapping vehicle 11. The Z-direction motor 312 drives the driving sprocket 311 to rotate through the third reducer. The driving sprocket 311 drives the driven sprocket 322 to rotate through the Z-direction chain 308, and drives the loading platform to descend together with the counterweight sprocket 309 and the counterweight block 321, so that the fully charged battery pack contacts the battery-swapping vehicle 11 and then descends a short distance. The loading platform continues to descend so that the fully charged battery pack is installed on the battery-swapping vehicle 11, and then switches to the tenth state.

[0038] S10, the bidirectional telescopic fork 3 in the tenth state is adjusted to the initial state of battery replacement under the drive of the corresponding X-axis moving component, Z-axis moving component and R-direction motor 324 to complete the battery replacement operation; all the above action states are the simultaneous operation of both sides of the battery replacement vehicle 11;

[0039] S11. Repeat the above steps S1 to S10 to complete the battery pack replacement of the next battery replacement vehicle 11. The present invention transfers the depleted battery pack on the vehicle to an idle charging unit for charging while transferring the fully charged battery pack to the installation position of the vehicle. The waiting time required for the entire battery replacement process is short and the battery replacement efficiency is high.

[0040] Embodiment 2: A wide-body vehicle battery swap station, referring to Figure 1 , including a steel structure factory building 1, a parking platform is arranged in the middle of the steel structure factory building 1, the parking platform carries a battery swapping vehicle 11, battery swapping equipment, charging warehouse and fire-fighting elevator 4 are arranged on both sides of the parking platform, and a set of battery swapping equipment, charging warehouse and fire-fighting elevator 4 is on one side; battery swapping robots 2 for facilitating the movement of battery boxes are arranged on both sides of the parking platform, and a 3D camera 306, a distance sensor, and a loading platform are respectively arranged on the lifting mechanism of the battery swapping robot 2, an R direction motor 324 is arranged under the loading platform, and a bidirectional telescopic fork 3 is arranged on the loading platform. The present invention adopts two distance sensors installed on the lifting frame of the battery-swapping robot, which are respectively used to detect the distance between the two sides of the battery at the vehicle end, automatically calculate the angle between the battery and the battery-swapping robot, and feed it back to the R direction motor to drive the angle of the two-way telescopic fork, thereby automatically maintaining the parallelism between the battery and the battery-swapping robot; a 3D camera is installed in the middle position of the lifting frame of the battery-swapping robot to detect the battery mark position, judge the specific front and rear positions of the vehicle, and feed it back to the driving drive of the battery-swapping robot to automatically adjust the position of the battery-swapping robot and the leveling mechanism on the two-way telescopic fork, which solves the problem of the left and right (i.e., X-direction) position of the vehicle during battery replacement. The inaccurate docking increases the difficulty of battery replacement and the technical defect of low battery replacement efficiency has improved the positioning accuracy of the battery replacement robot, improved the battery replacement efficiency of the entire mining truck double-sided battery replacement station, and reduced the difficulty of battery replacement; the fire-fighting lift includes chains, guide wheels, motors, and counterweights. Under normal circumstances, the motor is locked. When encountering an abnormal fire, the motor starts and unlocks; a damping reduction mechanism is installed in the center and above the cache rack to drive the four connected chains. The chains are fixed on the bottom bracket. When the motor is started, the abnormal battery will automatically and slowly sink into the water tank; when the abnormality is resolved, the battery will be automatically lifted to its normal position.

[0041] Embodiment 3. On the basis of embodiment 2, a transformer 8 and a charging assembly are respectively provided on both sides of the outside of the steel structure factory building 1. The charging assembly includes 10 battery box stations. The 10 battery box stations include 8 charging stations, 1 cache station and 1 fire-fighting station. The fire-fighting elevator 4 is located at the fire-fighting station. A battery cache rack 7 is provided on the cache station. The battery cache rack 7 includes a base mounting frame. A battery pack charging compartment cache position 201 and a battery pack charging base 202 are respectively provided on the base mounting frame. The battery swapping robot 2 is located between the battery box station and the parking platform. Chargers 9 are arranged on the 8 charging stations. A container-type rest room 10 and a maintenance room 12 are respectively provided in front of the steel structure factory building 1. The base mounting frame of the present invention is welded by I-beams, and the base mounting frame is divided into three layers, with a ceiling rail fixing plate installed on the top and battery compartments on the two lower layers; each layer of the battery compartment is equipped with a bottom bracket, and the bottom bracket is divided into a primary positioning block and a secondary positioning column for accurate positioning of the battery; the bottom bracket is equipped with a charging plug, and eight rubber pads are installed around it for buffering the battery against the bottom bracket.

[0042] Embodiment 4: On the basis of Embodiment 3, the battery swap robot 2 includes a gantry, which is arranged between the ceiling rail 317 and the ground rail 5 on both sides of the parking platform, and the gantry and the ground rail 5 are driven by a rack and pinion, and the gantry and the ceiling rail 317 are connected by a follower, and the ceiling rail 317 is provided with a ceiling rail cam follower anti-derailment track 326. The present invention uses the ceiling rail to cooperate with the ceiling rail cam follower to prevent derailment, so as to ensure the normal movement of the battery swap robot.

[0043] Embodiment 5, on the basis of embodiment 4, a rail-type battery-swapping robot busbar 316 is further provided between the top surface of the gantry and the ceiling rail 317, and the bottom of the gantry moves on the rail 5 through the rail wheel 302; a rack 301 is provided between the parallel ground rails 5, and an X-axis moving assembly is provided below the gantry, and the X-axis moving assembly includes an X-direction motor 320, and the X-direction motor 320 drives the first gear 319 to move along the rack 301 through the first reducer, driving the cam follower 303 and the drive shaft cam follower 304 along the rail 5 to the parking position of the battery-swapping vehicle 11. The present invention adopts an X-direction motor to drive the first gear to move along the rack through the first reducer, driving the gantry and the cam follower, the drive shaft cam follower along the track to the parking position of the battery-swapping vehicle; the rail-type battery-swapping robot busbar and the ceiling rail assist in cooperating with the ceiling rail cam follower to prevent derailment, so as to ensure the normal movement of the battery-swapping robot.

[0044] Embodiment 6: Based on Embodiment 5, the lifting mechanism is arranged on the gantry, and the two-way telescopic fork 3 is provided with a floating mechanism 327 and a leveling mechanism 6, and the floating mechanism 327 can be connected to or disconnected from the battery pack. The present invention adopts a floating mechanism arranged on the two-way telescopic fork, and the floating mechanism can be connected to or disconnected from the battery pack.

[0045] Embodiment 7, on the basis of embodiment 6, the bidirectional telescopic fork 3 is installed on the loading platform through a slewing bearing 329, and the R direction motor 324 is meshed with the inner gear ring of the slewing bearing 329 through the second reducer and the second gear 328, driving the slewing bearing 329 to rotate on the plane, so that the bidirectional telescopic fork 3 is perpendicular to the battery-swapping vehicle 11. The present invention adopts an R direction motor that is meshed with the inner gear ring of the slewing bearing through the second reducer and the second gear, driving the slewing bearing to rotate on the plane, so that the bidirectional telescopic fork is perpendicular to the battery-swapping vehicle, and completing the angle adjustment between the bidirectional telescopic fork and the battery-swapping vehicle.

[0046] Embodiment 8: On the basis of Embodiment 6, the gantry is further provided with a Z-axis moving assembly, which includes a Z-direction motor 312, which drives the driving sprocket 311 to rotate through the third reducer, and the driving sprocket 311 drives the driven sprocket 322 to rotate through the Z-direction chain 308, and the stage is mounted on the Z-direction chain 308, which drives the stage to rise or fall. The present invention uses a Z-direction motor to drive the driving sprocket to rotate through the third reducer, and the driving sprocket drives the driven sprocket to rotate through the Z-direction chain, and the stage is mounted on the Z-direction chain, which reduces the requirements for the Z-direction motor and the third reducer, and the Z-direction chain drives the stage to rise or fall, completing the transportation of the depleted battery pack after disassembly and the installation of the fully charged battery pack.

[0047] Embodiment 9, on the basis of Embodiment 8, one end of the Z-direction chain 308 is connected to the counterweight bearing seat 325, and the other end of the Z-direction chain 308 is connected to the counterweight block 321 through the counterweight sprocket 309; brackets are provided at the four corners of the top surface of the loading platform, and the brackets are provided with loading platform rollers 310, and the counterweight block 321 is provided with a counterweight roller 323, and the loading platform roller 310 and the counterweight roller 323 move up and down along the same counterweight track; the bracket is also provided with a chain anti-breaking and anti-falling protector 330. The present invention adopts one end of the Z-direction chain connected to the counterweight bearing seat, and the other end of the Z-direction chain is connected to the counterweight block through the counterweight sprocket, and the counterweight roller is provided on the counterweight block, and the loading platform roller and the counterweight roller are guided by the counterweight track.

[0048] Embodiment 10: Based on Embodiment 8, electric control cabinets 305 are respectively provided at the lower part of both sides of the gantry, 3D cameras 306 and maintenance ladders 307 are provided at the middle part of both sides of the gantry; an X-direction buffer 318 is also provided at the bottom of the gantry. The electric control cabinet of the present invention provides power energy control for the rail-mounted battery-swapping robot; workers can use the maintenance ladder to repair the Z-direction motor and the third reducer; the Z-direction chain can be tightened by tightening the Z-direction chain sprocket; the X-direction buffer can limit the battery-swapping robot to prevent collision.

[0049] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A battery replacement method for a wide-body vehicle battery replacement station, characterized in that: The steps include: S1. When a battery-swapping vehicle (11) that needs to have its battery pack replaced enters a set position in a passageway in a steel structure workshop (1), a 3D camera (306) detects the parking position of the battery-swapping vehicle (11), and the gantry of the battery-swapping robot (2) is driven by an X-axis moving assembly and moves along the X-direction on the track (5) to the battery pack position of the battery-swapping vehicle (11) via the track wheels (302), and switches to a second state; S2, the bidirectional telescopic fork (3) in the second state moves along the Z direction under the drive of the Z-axis moving assembly, the Z-direction motor (312) drives the driving sprocket (311) to rotate through the third reducer, the driving sprocket (311) drives the driven sprocket (322) to rotate through the Z-direction chain (308), and drives the loading platform to rise to a specified height together with the counterweight sprocket (309) and the counterweight block (321), and switches to the third state; S3, the bidirectional telescopic fork (3) in the third state, in the R direction, the motor (324) meshes with the inner gear ring of the slewing bearing (329) through the second reducer and the second gear (328), and the slewing bearing (329) rotates along the circumferential direction, so that the battery-swapping robot (2) is parallel to the vehicle end, which facilitates the bidirectional telescopic fork (3) to extend and retract along the Y direction to pick up the package, and then switches to the fourth state; S4, the bidirectional telescopic fork (3) in the fourth state is extended in the Y direction to the position directly below the battery pack of the battery-swapping vehicle (11); the bidirectional telescopic fork (3) is driven by the Z-axis moving assembly to move in the Z direction, the Z-direction motor (312) drives the driving sprocket (311) to rotate via the third reducer, the driving sprocket (311) drives the driven sprocket (322) to rotate via the Z-direction chain (308), and together with the counterweight sprocket (309) and the counterweight block (321), the loading platform is driven to first rise and then extend upward, so that the drag plate drags the crossbeam at the bottom of the battery pack, and the loading platform is switched to the fifth state; S5, the bidirectional telescopic fork (3) in the fifth state moves along the Z direction under the drive of the corresponding Z-axis moving component, the Z-direction motor (312) drives the driving sprocket (311) to rotate through the third reducer, the driving sprocket (311) drives the driven sprocket (322) to rotate through the Z-direction chain (308), and drives the loading platform to rise to a specified height together with the counterweight sprocket (309) and the counterweight block (321), so that the battery pack of the battery-swapping vehicle (11) on the loading platform is separated from the battery-swapping vehicle (11), and the battery box is separated from the bottom bracket, and the loading platform is switched to the sixth state; S6, the bidirectional telescopic fork (3) in the sixth state moves along the X direction under the drive of the X-axis moving assembly, and the X-direction motor (320) drives the first gear (319) to move along the rack (301) through the first reducer, driving the bidirectional telescopic fork (3) to move to a position corresponding to the battery pack charging compartment cache, and switching to the seventh state; S7, the bidirectional telescopic fork (3) in the seventh state is driven by the corresponding X-axis moving component, the Z-axis moving component and the R-direction motor (324) to move in the opposite direction to the battery pack charging compartment cache position (201), and the floating mechanism (327) on the bidirectional telescopic fork (3) drives the loading platform to move downward a short distance through the Z-direction motor (312) and the third reducer, so that the floating mechanism (327) is separated from the battery pack, and the battery pack with low power replaced by the battery replacement vehicle (11) is placed in the battery pack charging compartment cache position (201), and then the state is switched to the eighth state; S8. The bidirectional telescopic fork (3) in the eighth state is driven by the corresponding X-axis moving component, the Z-axis moving component and the R-direction motor (324) to move above the battery pack charging base (202) with a fully charged battery pack; the bidirectional telescopic fork (3) causes the floating mechanism (327) to drag the fully charged battery pack; after the loading platform is driven to rise to a corresponding height by the Z-direction motor (312) and the third reducer, the fully charged battery pack is separated from the battery pack charging base (202); the bidirectional telescopic fork (3) retracts to the origin position, the R-direction motor (324) meshes with the inner gear ring of the slewing bearing (329) through the second reducer and the second gear (328), and the slewing bearing (329) rotates in a circumferential direction, so that the bidirectional telescopic fork (3) is perpendicular to the battery swapping vehicle (11), and the state is switched to the ninth state; S9, the bidirectional telescopic fork (3) in the ninth state is driven by the corresponding X-axis moving component, the Z-axis moving component and the R-direction motor (324), the bidirectional telescopic fork (3) is extended to the top of the battery swap vehicle (11), the Z-direction motor (312) and the third reducer drive the loading platform to descend, so that the fully charged battery pack contacts the battery swap vehicle (11) and then descends a short distance, the loading platform continues to descend, so that the fully charged battery pack is installed on the battery swap vehicle (11), and the system switches to the tenth state; S10, the bidirectional telescopic fork (3) in the tenth state is adjusted to the initial state of battery replacement under the drive of the corresponding X-axis moving component, the Z-axis moving component and the R-direction motor (324), and the battery replacement operation is completed; S11. Repeat the above steps S1 to S10 to complete the battery pack replacement of the next battery-swapping vehicle (11).

2. A wide-body vehicle battery swap station, comprising a steel structure plant (1), characterized in that: A parking platform is provided in the middle of the steel structure factory building (1), and the parking platform carries a battery-swapping vehicle (11). Battery-swapping equipment, a charging compartment and a fire-fighting elevator (4) are arranged on both sides of the parking platform, with one set of battery-swapping equipment, a charging compartment and a fire-fighting elevator (4) on one side; battery-swapping robots (2) are provided on both sides of the parking platform to facilitate moving the battery box, and a 3D camera (306), a distance sensor and a loading platform are provided on the lifting mechanism of the battery-swapping robot (2), respectively; an R-direction motor (324) is provided below the loading platform, and a bidirectional telescopic fork (3) is provided on the loading platform.

3. A wide-body vehicle battery swap station according to claim 2, characterized in that: The steel structure factory building (1) is provided with a box transformer (8) and a charging assembly on both sides of its exterior. The charging assembly includes 10 battery box stations. The 10 battery box stations include 8 charging stations, 1 cache station and 1 fire fighting station. The fire fighting lift (4) is located at the fire fighting station. A battery cache rack (7) is provided on the cache station. The battery cache rack (7) includes a base mounting rack. A battery pack charging compartment cache position (201) and a battery pack charging base (202) are provided on the base mounting rack. The battery exchange robot (2) is located between the battery box station and the parking platform. Chargers (9) are arranged on the 8 charging stations. A container-type rest room (10) and a maintenance room (12) are provided in front of the steel structure factory building (1).

4. A wide-body vehicle battery swap station according to claim 3, characterized in that: The battery-swapping robot (2) comprises a gantry, which is arranged between the ceiling rail (317) and the ground rail (5) on both sides of the parking platform, the gantry and the ground rail (5) are driven by a gear rack, the gantry and the ceiling rail (317) are connected by a follower, and a ceiling rail cam follower (326) is provided on the ceiling rail (317) to prevent the ceiling rail from derailing.

5. A wide-body vehicle battery swap station according to claim 4, characterized in that: A rail-to-battery exchange robot busbar (316) is also provided between the top surface of the gantry and the overhead rail (317); the bottom of the gantry moves on the rail (5) via a rail wheel (302); a rack (301) is provided between the parallel ground rails (5); an X-axis moving assembly is provided below the gantry; the X-axis moving assembly comprises an X-direction motor (320); the X-direction motor (320) drives a first gear (319) to move along the rack (301) via a first reducer, thereby driving a cam follower (303) and a drive shaft cam follower (304) along the rail (5) to a parking position of the battery exchange vehicle (11).

6. A wide-body vehicle battery swap station according to claim 5, characterized in that: The lifting mechanism is arranged on the gantry, and the bidirectional telescopic fork (3) is provided with a floating mechanism (327) and a leveling mechanism (6), and the floating mechanism (327) can be connected to or disconnected from the battery pack.

7. A wide-body vehicle battery swap station according to claim 6, characterized in that: The bidirectional telescopic fork (3) is installed on the loading platform via a slewing bearing (329); the R direction motor (324) meshes with the inner gear ring of the slewing bearing (329) via a second reducer and a second gear (328), driving the slewing bearing (329) to rotate on a plane, so that the bidirectional telescopic fork (3) is perpendicular to the battery-exchanging vehicle (11).

8. The wide-body vehicle battery swap station according to claim 6, characterized in that: The gantry is also provided with a Z-axis moving assembly, which includes a Z-direction motor (312). The Z-direction motor (312) drives the driving sprocket (311) to rotate via a third reducer. The driving sprocket (311) drives the driven sprocket (322) to rotate via a Z-direction chain (308). The loading platform is mounted on the Z-direction chain (308). The Z-direction chain (308) drives the loading platform to rise or fall.

9. A wide-body vehicle battery swap station according to claim 8, characterized in that: One end of the Z-direction chain (308) is connected to the counterweight bearing seat (325), and the other end of the Z-direction chain (308) is connected to the counterweight block (321) via a counterweight sprocket (309); brackets are provided at the four corners of the top surface of the loading platform, and loading platform rollers (310) are provided on the brackets, and the counterweight block (321) is provided with a counterweight roller (323); the loading platform roller (310) and the counterweight roller (323) move up and down along the same counterweight track; and a chain anti-breaking and anti-falling protector (330) is also provided on the bracket.

10. The wide-body vehicle battery swap station according to claim 8, characterized in that: Electric control cabinets (305) are respectively arranged at the lower parts of both sides of the gantry, and 3D cameras (306) and maintenance ladders (307) are arranged in the middle parts of both sides of the gantry; an X-direction buffer (318) is also arranged at the bottom of the gantry, and the X-direction buffer (318) can limit the position of the battery swap robot (2) to prevent collision.

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